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</script><script>var json_data = {"preview_title":"wpf-agv-laser","title":[{"id":"ROS \u5b89\u88c5","pId":"88d24b9","name":"ROS \u5b89\u88c5","parent":"ROS","order":0,"sort_id":503002,"extname":".md","isParent":false,"isHidden":false,"content":".keep"},{"id":"Json","pId":"07439a5","name":"Json","parent":"WPF","order":0,"sort_id":504817,"extname":".md","isParent":false,"isHidden":false,"content":"### Json String To Object\n\n`NavigationOccupancyGrid ng = JsonConvert.DeserializeObject\u003CNavigationOccupancyGrid\u003E(str);`\n\n### Json Object TO String\n\n`string str = JsonConvert.SerializeObject(Map_navigationOccupancyGrid, Formatting.Indented);`"},{"id":"ROS\u5730\u56fe","pId":"00b5282","name":"ROS\u5730\u56fe","parent":"\u7528\u6237\u7ec8\u7aef","order":0,"sort_id":503015,"extname":".md","isParent":false,"isHidden":false,"content":"#### map\u4e0ecostmap\u90fd\u662f\u4ee5nav_msgs::OccupancyGrid\u7c7b\u578b\u53d1\u5e03\u5176topic\u3002\u5176\u4e2d\u6574\u5f20\u5730\u56fe\u7684\u969c\u788d\u7269\u4fe1\u606f\u5b58\u653e\u5728data\u6570\u636e\u6210\u5458\u4e2d\uff0cdata\u662f\u4e00\u4e2aint8\u7c7b\u578b\u7684vector\u5411\u91cf\uff0c\u5373\u4e00\u7ef4\u6570\u7ec4\u3002\u5047\u8bbe\u4e00\u5f20pgm\u7684map\u5730\u56fe\uff0c\u5bbd\uff1awidth\uff0c\u9ad8\uff1aheight\uff0c\u5355\u4f4d\u4e3a\u50cf\u7d20\uff0c\u5206\u8fa8\u8def\u4e3aresolution\uff0c\u5de6\u4e0b\u89d2\u50cf\u7d20\u70b9\u5728\u4e16\u754c\u5750\u6807\u7cfb\u4e0b\u7684\u4f4d\u7f6e\u4e3a\uff1a\uff08ox,oy\uff09,\u5355\u4f4d\u7c73\uff0c\u90a3\u4e48\u4e16\u754c\u5750\u6807\u7cfb\u4e0b\u4e00\u70b9\uff08x,y\uff09\u5355\u4f4d\u7c73\uff0c\u5047\u8bbe\u5176\u5728\u5730\u56fe\u4e2d\uff0c\u90a3\u4e48\u8be5\u70b9\u5bf9\u5e94\u7684data\u4e2d\u7684\u7d22\u5f15index\u4e3a\uff1a\n\n`index = (x-ox)/resolution+(y-oy)/resolution*width`\n\n#### \uff08\u6ce8\uff1aindex\u4e3aint8\u7c7b\u578b\uff0c\u6240\u4ee5\u8981\u5c06\u7ed3\u679c\u8fdb\u884c\u4e0b\u7c7b\u578b\u8f6c\u6362\uff09\uff0c\u90a3\u4e48\u8be5\u70b9\u5728\u5730\u56fe\u4e2d\u7684\u4fe1\u606f\u5373\u4e3adata[index]\n\n\u5373\uff1adata\u662f\u6309\u7167\u90a3\u5f20\u5730\u56fe\u56fe\u7247\u7684\u81ea\u5e95\u5411\u4e0a\uff0c\u81ea\u5de6\u81f3\u53f3\u9010\u4e2a\u50cf\u7d20\u70b9\u5b58\u50a8\u7684\n\nmap\u4e2ddata\u5b58\u50a8\u7684\u683c\u5f0f\u5982\u4e0b\uff1a\n\n```\n0:\u7a7a\u767d\u533a\u57df\n\n100:\u969c\u788d\u7269\n\n-1:\u672a\u77e5\n\n1-99:\u6839\u636e\u50cf\u7d20\u7684\u7070\u5ea6\u503c\u8f6c\u6362\u540e\u7684\u503c\uff0c\u4ee3\u8868\u6709\u969c\u788d\u7269\u7684\u6982\u7387\uff08\u4e0d\u786e\u5b9a\uff0c\u731c\u6d4b\u662f\u8fd9\u4e2a\u542b\u4e49\uff0c\u5b9e\u9645\u7528\u7684\u65f6\u5019\u628a\u8fd9\u4e2a\u503c\u90fd\u5f53\u4f5c\u65e0\u969c\u788d\u7269\uff09\n```\n#### costmap\u4e2ddata\u5b58\u50a8\u683c\u5f0f\u5982\u4e0b\uff1a\n\n\n```\n0:\u7a7a\u767d\u533a\u57df\n\n100:\u969c\u788d\u7269\u5c42\n\n99:\u81a8\u80c0\u5c42\n\n1-98:\u8ddd\u79bb\u969c\u788d\u7269\u5c42\u7684\u8fdc\u8fd1\u83b7\u5f97\u7684\u4ee3\u4ef7\u503c\n\n-1:\u672a\u77e5\u533a\u57df\n```\n"},{"id":"\u529f\u80fd\u754c\u9762","pId":"773fe51","name":"\u529f\u80fd\u754c\u9762","parent":"\u754c\u9762\u5c55\u793a","order":0,"sort_id":514732,"extname":".md","isParent":false,"isHidden":false,"content":"### \u673a\u5668\u4eba\u3001\u5168\u5c40\u8def\u5f84\u3001\u672c\u5730\u8def\u5f84\uff0c\u9759\u6001\u5730\u56fe\u7efc\u5408\u548c\u52a8\u6001\u5c55\u793a\n\n![\u8f93\u5165\u56fe\u7247\u8bf4\u660e](https://images.gitee.com/uploads/images/2018/0710/234035_a360c7d4_1509932.png \"\u5c4f\u5e55\u622a\u56fe.png\")\n![\u8f93\u5165\u56fe\u7247\u8bf4\u660e](https://images.gitee.com/uploads/images/2018/0710/234301_f90145a2_1509932.png \"\u5c4f\u5e55\u622a\u56fe.png\")"},{"id":"88d24b9","pId":0,"name":"ROS","parent":"","sort_id":503001,"order":1,"isParent":true,"extname":null,"open":true},{"id":"Rbx1\u673a\u5668\u4eba\u53ca\u6a21\u62df\u5668\u5b89\u88c5","pId":"88d24b9","name":"Rbx1\u673a\u5668\u4eba\u53ca\u6a21\u62df\u5668\u5b89\u88c5","parent":"ROS","order":1,"sort_id":503003,"extname":".md","isParent":false,"isHidden":false,"content":"### 1.\u51c6\u5907\u5de5\u4f5c\uff0c\u628a\u4e0b\u9762\u8fd9\u4e00\u5806\u547d\u4ee4\u590d\u5236\u5230\u7ec8\u7aef\u6267\u884c\n\n```\nsudo apt-get install ros-indigo-turtlebot-bringup \\\nros-indigo-turtlebot-create-desktop ros-indigo-openni-* \\\nros-indigo-openni2-* ros-indigo-freenect-* ros-indigo-usb-cam \\\nros-indigo-laser-* ros-indigo-hokuyo-node \\\nros-indigo-audio-common gstreamer0.10-pocketsphinx \\\nros-indigo-pocketsphinx ros-indigo-slam-gmapping \\\nros-indigo-joystick-drivers Python-rosinstall \\\nros-indigo-orocos-kdl ros-indigo-python-orocos-kdl \\\npython-setuptools ros-indigo-dynamixel-motor-* \\\nlibopencv-dev python-OpenCV ros-indigo-vision-opencv \\\nros-indigo-depthimage-to-laserscan ros-indigo-arbotix-* \\\nros-indigo-turtlebot-teleop ros-indigo-move-base \\\nros-indigo-map-server ros-indigo-fake-localization \\\nros-indigo-amcl Git subversion mercurial \n```\n### \u5982\u679c\u51fa\u73b0unable to locate\u7684\u9519\u8bef\u7684\u8bdd\uff0c\u5148\u6267\u884csudo apt-get update,\u518d\u6267\u884c\u4e0a\u8ff0\u6307\u4ee4\u3002\u63a5\u4e0b\u6765\uff0c\u4ece\u4ed3\u5e93\u4e2dclone rbx1\u6e90\u7801\u5305\uff0c\u5982\u679c\u4e4b\u524d\u6ca1\u88c5\u8fc7git\u7684\u8bdd\u8981\u5148\u88c5\u4e00\u4e0bgit\u3002 \n\u6267\u884c\u4e0b\u9762\u7684\u6307\u4ee4\u5c06rbx1 clone\u5230\u672c\u5730\u3002\n```\ncd ~/catkin_ws/src\ngit clone https://github.com/pirobot/rbx1.git $ cd rbx1\ngit checkout indigo-devel\ncd ~/catkin_ws\ncatkin_make\nsource ~/catkin_ws/devel/setup.bash\nrospack profile\n```\n### source\u6307\u4ee4\u4fdd\u8bc1\u5f53\u4f60\u6253\u5f00\u4e00\u4e2a\u65b0\u7684\u7ec8\u7aef\u540e\uff0c\u4f60\u7684catkin packages\u5728\u4f60\u7684ROS_PACKAGE_PATH\u8def\u5f84\u4e0b\u3002 \n\u88c5\u597d\u4e4b\u540e\uff0c\u4f60\u7684~/catkin_ws/src/rbx1\u76ee\u5f55\u4e0b\u4f1a\u6709\u4e0b\u9762\u8fd9\u4e9b\u6587\u4ef6\u3002\n### 2.\u6d4b\u8bd5ARBOTIX SIMULATOR\n\u6211\u4eec\u4e3b\u8981\u4f7f\u7528arbotix_python\u4eff\u771f\u5668\u6765\u6d4b\u8bd5\u4ee3\u7801\u5e94\u7528\u5230\u673a\u5668\u4eba\u4e0a\u9762\u7684\u6548\u679c\uff0c\u4e4b\u524d\u7684\u4e00\u5806\u6307\u4ee4\u4e2d\u5df2\u7ecf\u5b89\u88c5\u8fc7arbotix\u3002\u73b0\u5728\u5148\u5728\u7ec8\u7aef\u4e2d\u8f93\u5165roscore\u6307\u4ee4\u3002 \n\u7136\u540e\u542f\u52a8\u4eff\u771f\u7684TurtleBot\u673a\u5668\u4eba\u3002\u518d\u6253\u5f00\u4e00\u4e2a\u7ec8\u7aef\uff0c\u542f\u52a8fake_turtlebot.launch\u6587\u4ef6\u3002\n`roslaunch rbx1_bringup fake_turtlebot.launch`\n### \u7136\u540e\u542f\u52a8RViz\u4eff\u771f\u5668\u3002\n`rosrun rviz rviz -d `rospack find rbx1_nav`/sim.rviz`\n### \u8fd9\u6837\u5c31\u53ef\u4ee5\u5f88\u65b9\u4fbf\u7684\u7528\u53ef\u89c6\u5316\u7684\u5de5\u5177\u89c2\u5bdf\u673a\u5668\u4eba\u7684\u8fd0\u884c\u72b6\u51b5\u3002\u63a5\u4e0b\u6765\u901a\u8fc7\u53d1\u5e03Twist\u6d88\u606f\u6765\u63a7\u5236\u673a\u5668\u4eba\u7684\u8fd0\u52a8\u3002\n`rostopic pub -r 10 /cmd_vel geometry_msgs/Twist '{linear: {x: 0.2, y: 0, z: 0}, angular: {x: 0, y: 0, z: 0.5}}'`\n### \u8fd9\u4e2a\u6d88\u606f\u7684\u610f\u601d\u662f\uff0c\u4f7f\u673a\u5668\u4eba\u7684\u7ebf\u901f\u5ea6\u4fdd\u6301Vx\uff1d0.2m/s,\u81ea\u65cb\u89d2\u901f\u5ea6\u4fdd\u63010.5rad/s\uff0c\u8fd9\u6837\u673a\u5668\u4eba\u5c31\u4f1a\u505a\u5706\u5468\u8fd0\u52a8\u3002\u4eff\u771f\u5668\u8fd0\u884c\u7ed3\u679c\u5982\u4e0b\uff1a\n### \u5982\u679c\u60f3\u8ba9\u673a\u5668\u4eba\u505c\u4e0b\u6765\u7684\u8bdd\uff0c\u5148Ctrl\uff0bC\u7ec8\u6b62\u8fdb\u7a0b\uff0c\u518d\u8f93\u5165\u4ee5\u4e0b\u6307\u4ee4\uff1a\n`rrostopic pub -1 /cmd_vel geometry_msgs/Twist '{}'`"},{"id":"WPF\u9f20\u6807\u4e8b\u4ef6","pId":"07439a5","name":"WPF\u9f20\u6807\u4e8b\u4ef6","parent":"WPF","order":1,"sort_id":515431,"extname":".md","isParent":false,"isHidden":false,"content":"### \u4e3b\u8981\u6709\u4ee5\u4e0b\u51e0\u79cd\u4e8b\u4ef6:\n- \u4e3b\u8981\u4e8b\u4ef6\t                \u5b50\u4e8b\u4ef6\t                \u89e6\u53d1\u6761\u4ef6\t \n- MouseHover\t \t\u9f20\u6807\u60ac\u505c\u5728\u63a7\u4ef6\u53d1\u751f\t \n- MouseLeave\t \t\u9f20\u6807\u79bb\u5f00\u63a7\u4ef6\u65f6\u53d1\u751f\tEventHandler\n- MouseEnter\t \t\u9f20\u6807\u8fdb\u5165\u63a7\u4ef6\u65f6\u53d1\u751f\tEventHandler\n- MouseMove\t \t\u9f20\u6807\u79fb\u52a8\u8fc7\u7a0b\u4e2d\u91cd\u590d\u53d1\u751f\tMouseEventHandler\n- MouseDown\t \t\u9f20\u6807\u952e\u6309\u4e0b\u65f6\u53d1\u751f\t        MouseEventHandler\n- MouseLeftButtonDown\t\u9f20\u6807\u5de6\u952e\u6309\u4e0b\u65f6\u53d1\u751f\t \n- MouseRightButtonDown\t\u9f20\u6807\u53f3\u952e\u6309\u4e0b\u65f6\u53d1\u751f\t \n- MouseUp\t \t\u9f20\u6807\u952e\u677e\u5f00\u65f6\u53d1\u751f\t        MouseEventHandler\n- MouseLeftButtonUp\t\u9f20\u6807\u5de6\u952e\u677e\u5f00\u65f6\u53d1\u751f\t \n- MouseRightButtonUp\t\u9f20\u6807\u53f3\u952e\u677e\u5f00\u65f6\u53d1\u751f\t \n- MouseWheel\t \t\u9f20\u6807\u6eda\u8f6e\u6eda\u52a8\u65f6\u53d1\u751f\tMouseEventHandler\n\n\u53e6\u5916\u8fd8\u6709Preview+\u4e8b\u4ef6   \u5982\uff1a PreviewMouseMove \u7b49\u7b49\u4e8b\u4ef6,   \u5148\u4e8e\u6b63\u5e38\u7684\u9f20\u6807\u4e8b\u4ef6\u53d1\u751f\u3002\n\n\u53d1\u751f\u987a\u5e8f\uff1a\n\n\u9f20\u6807\u4e8b\u4ef6\u6309\u4ee5\u4e0b\u987a\u5e8f\u53d1\u751f\uff1a\n\nMouseEnter\nMouseMove\nMouseHover / MouseDown / MouseWheel\nMouseUp\nMouseLeave\n\n\u4e0e\u7ec4\u4ef6\u7684\u7ed1\u5b9a\n\n\u7ec4\u4ef6\u540d\u79f0.\u4e8b\u4ef6\u540d\u79f0+=new System.EventHandler\uff08\u4e8b\u4ef6\u540d\u79f0\uff09\uff1b\n\nOR \u7ec4\u4ef6\u540d\u79f0.\u4e8b\u4ef6\u540d\u79f0+=new System.MouseEventHandler\uff08\u4e8b\u4ef6\u540d\u79f0\uff09\uff1b\n\n\u9f20\u6807\u4e8b\u4ef6\u4f7f\u7528\u6761\u4ef6\n\n\u67d0\u4e9b\u63a7\u4ef6\u7684\u529f\u80fd\u589e\u5f3a\uff1a TreeView\u91cc\u9762\u5143\u7d20\u7684\u62d6\u52a8\n\n\u6216\u8005\u81ea\u5b9a\u4e49\u63a7\u4ef6\u7684\u8bb8\u591a\u529f\u80fd\uff1a flash\u7684\u65f6\u95f4\u8f74\n\n\n\u63a7\u4ef6\u5185\u62d6\u52a8\u529f\u80fd\u4e3e\u4f8b\uff1a\n\nl  \u83b7\u5f97MouseDown\u65f6position\u3002\n\nl  \u5728 MouseMove\u4e2d\u68c0\u67e5\u9f20\u6807\u5de6\u952e\u6309\u4e0b\u60c5\u51b5 \u548c \u9f20\u6807\u79fb\u52a8\u60c5\u51b5\u3002\n\nl  \u628a\u79fb\u52a8\u7684\u4e3e\u4f8b\u548c\u7cfb\u7edf\u63d0\u4f9b\u7684SystemParameters.MinimumHorizontalDragDistance\u6bd4\u8f83\n\n\u5982\uff1a\n\nMath.Abs(now.X-start.X)\u003ESystemParameters.MinimumHorizontalDragDistance\n\nl  \u5728MouseUp\u4e2d\u6839\u636e\u5de6\u952e\u7684\u91ca\u653e\u60c5\u51b5\uff0c\u5224\u65ad\u91ca\u653e\u62d6\u52a8\u5b8c\u6210\uff0c\u7136\u540e\u505a\u76f8\u5e94\u5904\u7406\u3002\n\n\n\u7279\u6b8a\u95ee\u9898\u89e3\u51b3\n\n\u6211\u4eec\u5728\u7f16\u5199\u7a0b\u5e8f\u4ee3\u7801\u8fc7\u7a0b\u4e2d\u53ef\u80fd\u9047\u5230\u67d0\u4e9b\u9f20\u6807\u4e8b\u4ef6\u5b8c\u5168\u4e0d\u88ab\u89e6\u53d1\u7684\u60c5\u51b5\uff0c\u5982\u679c\u4f60\u7684MouseDown\u4e0d\u89e6\u53d1\uff0c\u90a3\u4e48\u4f60\u53ef\u4ee5\u8bd5\u8bd5PreviewMouseDown\u4e8b\u4ef6\uff0c\u5176\u4ed6\u4e8b\u4ef6\u7c7b\u4f3c\uff0c\u5177\u4f53\u4ec0\u4e48\u539f\u56e0\uff0c\u6211\u4e5f\u4e0d\u6e05\u695a\uff0c\u611f\u89c9MouseDown \u4e0e PreviewMouseDown\u662f\u4e24\u5957\u72ec\u7acb\u7684\u4e8b\u4ef6\u94fe\uff0c\u4e92\u76f8\u4e0d\u5f71\u54cd\u3002\n\nMouseMove\u7684\u89e6\u53d1\u4e0d\u662f\u6309\u56fa\u5b9a\u4f4d\u79fb\u91cf\u89e6\u53d1\u7684\uff0c\uff08\u4f8b\u5982\uff1a\u9f20\u6807\u6ed1\u52a8\u9009\u62e9\u5143\u4ef6\uff0c\u82e5\u9f20\u6807\u79fb\u52a8\u592a\u5feb\uff0c\u67d0\u4e9b\u88ab\u5212\u8fc7\u7684\u5143\u4ef6\u5c31\u4e0d\u88ab\u9009\u62e9\u4e86\uff09\uff0c\u6240\u4ee5\u67d0\u4e9b\u60c5\u51b5\u4e0b\u5728MouseMove\u91cc\u5904\u7406 \u4e0d\u592a\u53ef\u9760\u3002\n"},{"id":"Json\u683c\u5f0f\u5730\u56fe\u6570\u636e","pId":"00b5282","name":"Json\u683c\u5f0f\u5730\u56fe\u6570\u636e","parent":"\u7528\u6237\u7ec8\u7aef","order":1,"sort_id":504829,"extname":".md","isParent":false,"isHidden":false,"content":"\n```\n{\n  \"header\": {\n    \"seq\": 0,\n    \"stamp\": {\n      \"secs\": 1531007615,\n      \"nsecs\": 19525437\n    },\n    \"frame_id\": \"map\"\n  },\n  \"info\": {\n    \"map_load_time\": {\n      \"secs\": 1531007615,\n      \"nsecs\": 19525130\n    },\n    \"resolution\": 0.05,\n    \"width\": 576,\n    \"height\": 544,\n    \"origin\": {\n      \"position\": {\n        \"x\": -13.8,\n        \"y\": -12.2,\n        \"z\": 0.0\n      },\n      \"orientation\": {\n        \"x\": 0.0,\n        \"y\": 0.0,\n        \"z\": 0.0,\n        \"w\": 1.0\n      }\n    }\n  },\n  \"data\": [\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    100,\n    100,\n    0,\n    100,\n    0,\n    0,\n    0,\n    0,\n    0,\n    0,\n    100,\n    0,\n    100,\n    0,\n    100,\n    0,\n    0,\n    -1,\n    -1,\n    100,\n    0,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    0,\n    100,\n    0,\n    0,\n    0,\n    0,\n    0,\n    0,\n    0,\n    0,\n    100,\n    0,\n    100,\n    0,\n    0,\n    0,\n    0,\n    -1,\n    -1,\n    0,\n    0,\n    -1,\n    -1,\n    100,\n    -1,\n    -1,\n    100,\n    100,\n    100,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    100,\n    100,\n    100,\n    0,\n    0,\n    0,\n    0,\n    0,\n    0,\n    0,\n    0,\n    0,\n    0,\n    0,\n    0,\n    0,\n    0,\n    0,\n    -1,\n    0,\n    0,\n    -1,\n    -1,\n    0,\n    -1,\n    -1,\n    -1,\n    100,\n    100,\n    100,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    100,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    100,\n    100,\n    100,\n    0,\n    0,\n    0,\n    0,\n    0,\n    0,\n    0,\n    0,\n    100,\n    100,\n    0,\n    0,\n    0,\n    100,\n    0,\n    100,\n    100,\n    100,\n    100,\n    100,\n    0,\n    -1,\n    -1,\n    -1,\n    -1,\n    100,\n    0,\n    0,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n  ]\n}\n```\n"},{"id":"\u8fd0\u884c\u673a\u5668\u4eba","pId":"88d24b9","name":"\u8fd0\u884c\u673a\u5668\u4eba","parent":"ROS","order":2,"sort_id":503004,"extname":".md","isParent":false,"isHidden":false,"content":"### \u8fd9\u91cc\u662f\u5217\u8868\u6587\u672c\u8fd0\u884c\u673a\u5668\u4eba\u8282\u70b9\n`roslaunch rbx1_bringup fake_turtlebot.launch`\n### \u8fd0\u884camcl\u8282\u70b9\uff0c\u4f7f\u7528\u6d4b\u8bd5\u5730\u56fe\n`roslaunch rbx1_nav fake_amcl.launch map:=test_map.yaml`\n### \u8fd0\u884c\uff1arviz\n`rosrun rviz rviz -d `rospack find rbx1_nav`/amcl.rviz`\n### \u8fd0\u884cRosBridge_websocket\n`roslaunch rosbridge_server rosbridge_websocket.launch`\n\n### \u8fd0\u884c\u6548\u679c\uff1a\n![\u8f93\u5165\u56fe\u7247\u8bf4\u660e](https://images.gitee.com/uploads/images/2018/0707/122237_d83cb371_1509932.png \"\u5c4f\u5e55\u622a\u56fe.png\")\n\n"},{"id":"00b5282","pId":0,"name":"\u7528\u6237\u7ec8\u7aef","parent":"","sort_id":503014,"order":2,"isParent":true,"extname":null,"open":true},{"id":"Rbx1\u673a\u5668\u4eba\u4e00\u952e\u542f\u52a8","pId":"88d24b9","name":"Rbx1\u673a\u5668\u4eba\u4e00\u952e\u542f\u52a8","parent":"ROS","order":3,"sort_id":517725,"extname":".md","isParent":false,"isHidden":false,"content":"### \u7b2c\u4e00\u6b65,\u521b\u5efa\u4e00\u4e2a\u65b0\u7684package\n```\ncd ~/catkin_ws/src\ncatkin_create_pkg admin\ncatmake\n```\n### \u5728admin\u4e0b\u5efa\u7acblaunch\u76ee\u5f55\uff0c\u7136\u540e\u521b\u5efa\n`start.launch`\n### \u5185\u5bb9\u5982\u4e0b\n```\n\u003Claunch\u003E\n    \u003Cinclude file=\"$(find rbx1_bringup)/launch/fake_turtlebot.launch\" /\u003E \n    \u003Cinclude file=\"$(find rbx1_nav)/launch/fake_amcl.launch\"\u003E \n        \u003Cparam name=\"map\" value=\"test_map.yaml\"/\u003E\n    \u003C/include\u003E\n  \u003Cnode name=\"rviz\" pkg=\"rviz\" type=\"rviz\" args=\"-d $(find rbx1_nav)/amcl.rviz\" /\u003E\n  \u003Cinclude file=\"$(find rosbridge_server)/launch/rosbridge_websocket.lah\" /\u003E\n\u003C/launch\u003E\n```\n### \u8fd0\u884c\u673a\u5668\u4eba\uff1a\n`roslaunch admin start.launch`\n"},{"id":"07439a5","pId":0,"name":"WPF","parent":"","sort_id":504816,"order":3,"isParent":true,"extname":null,"open":true},{"id":"773fe51","pId":0,"name":"\u754c\u9762\u5c55\u793a","parent":"","sort_id":514733,"order":4,"isParent":true,"extname":null,"open":true}],"content":{"503002":"\u003Cp\u003E.keep\u003C/p\u003E\n","504817":"\u003Ch3\u003E\u003Ca class=\"anchor\" id=\"json-string-to-object\" href=\"#json-string-to-object\"\u003E\u003C/a\u003EJson String To Object\u003C/h3\u003E\n\u003Cp\u003E\u003Ccode\u003ENavigationOccupancyGrid ng = JsonConvert.DeserializeObject\u0026lt;NavigationOccupancyGrid\u0026gt;(str);\u003C/code\u003E\u003C/p\u003E\n\u003Ch3\u003E\u003Ca class=\"anchor\" id=\"json-object-to-string\" href=\"#json-object-to-string\"\u003E\u003C/a\u003EJson Object TO String\u003C/h3\u003E\n\u003Cp\u003E\u003Ccode\u003Estring str = JsonConvert.SerializeObject(Map_navigationOccupancyGrid, Formatting.Indented);\u003C/code\u003E\u003C/p\u003E\n","503015":"\u003Ch4\u003E\u003Ca class=\"anchor\" id=\"map\u4e0ecostmap\u90fd\u662f\u4ee5nav-msgs-occupancygrid\u7c7b\u578b\u53d1\u5e03\u5176topic-\u5176\u4e2d\u6574\u5f20\u5730\u56fe\u7684\u969c\u788d\u7269\u4fe1\u606f\u5b58\u653e\u5728data\u6570\u636e\u6210\u5458\u4e2d-data\u662f\u4e00\u4e2aint8\u7c7b\u578b\u7684vector\u5411\u91cf-\u5373\u4e00\u7ef4\u6570\u7ec4-\u5047\u8bbe\u4e00\u5f20pgm\u7684map\u5730\u56fe-\u5bbd-width-\u9ad8-height-\u5355\u4f4d\u4e3a\u50cf\u7d20-\u5206\u8fa8\u8def\u4e3aresolution-\u5de6\u4e0b\u89d2\u50cf\u7d20\u70b9\u5728\u4e16\u754c\u5750\u6807\u7cfb\u4e0b\u7684\u4f4d\u7f6e\u4e3a-ox-oy-\u5355\u4f4d\u7c73-\u90a3\u4e48\u4e16\u754c\u5750\u6807\u7cfb\u4e0b\u4e00\u70b9-x-y-\u5355\u4f4d\u7c73-\u5047\u8bbe\u5176\u5728\u5730\u56fe\u4e2d-\u90a3\u4e48\u8be5\u70b9\u5bf9\u5e94\u7684data\u4e2d\u7684\u7d22\u5f15index\u4e3a-\" href=\"#map\u4e0ecostmap\u90fd\u662f\u4ee5nav-msgs-occupancygrid\u7c7b\u578b\u53d1\u5e03\u5176topic-\u5176\u4e2d\u6574\u5f20\u5730\u56fe\u7684\u969c\u788d\u7269\u4fe1\u606f\u5b58\u653e\u5728data\u6570\u636e\u6210\u5458\u4e2d-data\u662f\u4e00\u4e2aint8\u7c7b\u578b\u7684vector\u5411\u91cf-\u5373\u4e00\u7ef4\u6570\u7ec4-\u5047\u8bbe\u4e00\u5f20pgm\u7684map\u5730\u56fe-\u5bbd-width-\u9ad8-height-\u5355\u4f4d\u4e3a\u50cf\u7d20-\u5206\u8fa8\u8def\u4e3aresolution-\u5de6\u4e0b\u89d2\u50cf\u7d20\u70b9\u5728\u4e16\u754c\u5750\u6807\u7cfb\u4e0b\u7684\u4f4d\u7f6e\u4e3a-ox-oy-\u5355\u4f4d\u7c73-\u90a3\u4e48\u4e16\u754c\u5750\u6807\u7cfb\u4e0b\u4e00\u70b9-x-y-\u5355\u4f4d\u7c73-\u5047\u8bbe\u5176\u5728\u5730\u56fe\u4e2d-\u90a3\u4e48\u8be5\u70b9\u5bf9\u5e94\u7684data\u4e2d\u7684\u7d22\u5f15index\u4e3a-\"\u003E\u003C/a\u003Emap\u4e0ecostmap\u90fd\u662f\u4ee5nav_msgs::OccupancyGrid\u7c7b\u578b\u53d1\u5e03\u5176topic\u3002\u5176\u4e2d\u6574\u5f20\u5730\u56fe\u7684\u969c\u788d\u7269\u4fe1\u606f\u5b58\u653e\u5728data\u6570\u636e\u6210\u5458\u4e2d\uff0cdata\u662f\u4e00\u4e2aint8\u7c7b\u578b\u7684vector\u5411\u91cf\uff0c\u5373\u4e00\u7ef4\u6570\u7ec4\u3002\u5047\u8bbe\u4e00\u5f20pgm\u7684map\u5730\u56fe\uff0c\u5bbd\uff1awidth\uff0c\u9ad8\uff1aheight\uff0c\u5355\u4f4d\u4e3a\u50cf\u7d20\uff0c\u5206\u8fa8\u8def\u4e3aresolution\uff0c\u5de6\u4e0b\u89d2\u50cf\u7d20\u70b9\u5728\u4e16\u754c\u5750\u6807\u7cfb\u4e0b\u7684\u4f4d\u7f6e\u4e3a\uff1a\uff08ox,oy\uff09,\u5355\u4f4d\u7c73\uff0c\u90a3\u4e48\u4e16\u754c\u5750\u6807\u7cfb\u4e0b\u4e00\u70b9\uff08x,y\uff09\u5355\u4f4d\u7c73\uff0c\u5047\u8bbe\u5176\u5728\u5730\u56fe\u4e2d\uff0c\u90a3\u4e48\u8be5\u70b9\u5bf9\u5e94\u7684data\u4e2d\u7684\u7d22\u5f15index\u4e3a\uff1a\u003C/h4\u003E\n\u003Cp\u003E\u003Ccode\u003Eindex = (x-ox)/resolution+(y-oy)/resolution*width\u003C/code\u003E\u003C/p\u003E\n\u003Ch4\u003E\u003Ca class=\"anchor\" id=\"-\u6ce8-index\u4e3aint8\u7c7b\u578b-\u6240\u4ee5\u8981\u5c06\u7ed3\u679c\u8fdb\u884c\u4e0b\u7c7b\u578b\u8f6c\u6362-\u90a3\u4e48\u8be5\u70b9\u5728\u5730\u56fe\u4e2d\u7684\u4fe1\u606f\u5373\u4e3adata-index-\" href=\"#-\u6ce8-index\u4e3aint8\u7c7b\u578b-\u6240\u4ee5\u8981\u5c06\u7ed3\u679c\u8fdb\u884c\u4e0b\u7c7b\u578b\u8f6c\u6362-\u90a3\u4e48\u8be5\u70b9\u5728\u5730\u56fe\u4e2d\u7684\u4fe1\u606f\u5373\u4e3adata-index-\"\u003E\u003C/a\u003E\uff08\u6ce8\uff1aindex\u4e3aint8\u7c7b\u578b\uff0c\u6240\u4ee5\u8981\u5c06\u7ed3\u679c\u8fdb\u884c\u4e0b\u7c7b\u578b\u8f6c\u6362\uff09\uff0c\u90a3\u4e48\u8be5\u70b9\u5728\u5730\u56fe\u4e2d\u7684\u4fe1\u606f\u5373\u4e3adata[index]\u003C/h4\u003E\n\u003Cp\u003E\u5373\uff1adata\u662f\u6309\u7167\u90a3\u5f20\u5730\u56fe\u56fe\u7247\u7684\u81ea\u5e95\u5411\u4e0a\uff0c\u81ea\u5de6\u81f3\u53f3\u9010\u4e2a\u50cf\u7d20\u70b9\u5b58\u50a8\u7684\u003C/p\u003E\n\n\u003Cp\u003Emap\u4e2ddata\u5b58\u50a8\u7684\u683c\u5f0f\u5982\u4e0b\uff1a\u003C/p\u003E\n\u003Cdiv class=\"white\"\u003E\u003Cdiv class=\"highlight\"\u003E\u003Cpre\u003E0:\u7a7a\u767d\u533a\u57df\n\n100:\u969c\u788d\u7269\n\n-1:\u672a\u77e5\n\n1-99:\u6839\u636e\u50cf\u7d20\u7684\u7070\u5ea6\u503c\u8f6c\u6362\u540e\u7684\u503c\uff0c\u4ee3\u8868\u6709\u969c\u788d\u7269\u7684\u6982\u7387\uff08\u4e0d\u786e\u5b9a\uff0c\u731c\u6d4b\u662f\u8fd9\u4e2a\u542b\u4e49\uff0c\u5b9e\u9645\u7528\u7684\u65f6\u5019\u628a\u8fd9\u4e2a\u503c\u90fd\u5f53\u4f5c\u65e0\u969c\u788d\u7269\uff09\n\u003C/pre\u003E\u003C/div\u003E\u003C/div\u003E\u003Ch4\u003E\u003Ca class=\"anchor\" id=\"costmap\u4e2ddata\u5b58\u50a8\u683c\u5f0f\u5982\u4e0b-\" href=\"#costmap\u4e2ddata\u5b58\u50a8\u683c\u5f0f\u5982\u4e0b-\"\u003E\u003C/a\u003Ecostmap\u4e2ddata\u5b58\u50a8\u683c\u5f0f\u5982\u4e0b\uff1a\u003C/h4\u003E\u003Cdiv class=\"white\"\u003E\u003Cdiv class=\"highlight\"\u003E\u003Cpre\u003E0:\u7a7a\u767d\u533a\u57df\n\n100:\u969c\u788d\u7269\u5c42\n\n99:\u81a8\u80c0\u5c42\n\n1-98:\u8ddd\u79bb\u969c\u788d\u7269\u5c42\u7684\u8fdc\u8fd1\u83b7\u5f97\u7684\u4ee3\u4ef7\u503c\n\n-1:\u672a\u77e5\u533a\u57df\n\u003C/pre\u003E\u003C/div\u003E\u003C/div\u003E","514732":"\u003Ch3\u003E\u003Ca class=\"anchor\" id=\"\u673a\u5668\u4eba-\u5168\u5c40\u8def\u5f84-\u672c\u5730\u8def\u5f84-\u9759\u6001\u5730\u56fe\u7efc\u5408\u548c\u52a8\u6001\u5c55\u793a\" href=\"#\u673a\u5668\u4eba-\u5168\u5c40\u8def\u5f84-\u672c\u5730\u8def\u5f84-\u9759\u6001\u5730\u56fe\u7efc\u5408\u548c\u52a8\u6001\u5c55\u793a\"\u003E\u003C/a\u003E\u673a\u5668\u4eba\u3001\u5168\u5c40\u8def\u5f84\u3001\u672c\u5730\u8def\u5f84\uff0c\u9759\u6001\u5730\u56fe\u7efc\u5408\u548c\u52a8\u6001\u5c55\u793a\u003C/h3\u003E\n\u003Cp\u003E\u003Cimg alt=\"\u8f93\u5165\u56fe\u7247\u8bf4\u660e\" src=\"https://images.gitee.com/uploads/images/2018/0710/234035_a360c7d4_1509932.png\" title=\"\u5c4f\u5e55\u622a\u56fe.png\" /\u003E\n\u003Cimg alt=\"\u8f93\u5165\u56fe\u7247\u8bf4\u660e\" src=\"https://images.gitee.com/uploads/images/2018/0710/234301_f90145a2_1509932.png\" title=\"\u5c4f\u5e55\u622a\u56fe.png\" /\u003E\u003C/p\u003E\n","503003":"\u003Ch3\u003E\u003Ca class=\"anchor\" id=\"1-\u51c6\u5907\u5de5\u4f5c-\u628a\u4e0b\u9762\u8fd9\u4e00\u5806\u547d\u4ee4\u590d\u5236\u5230\u7ec8\u7aef\u6267\u884c\" href=\"#1-\u51c6\u5907\u5de5\u4f5c-\u628a\u4e0b\u9762\u8fd9\u4e00\u5806\u547d\u4ee4\u590d\u5236\u5230\u7ec8\u7aef\u6267\u884c\"\u003E\u003C/a\u003E1.\u51c6\u5907\u5de5\u4f5c\uff0c\u628a\u4e0b\u9762\u8fd9\u4e00\u5806\u547d\u4ee4\u590d\u5236\u5230\u7ec8\u7aef\u6267\u884c\u003C/h3\u003E\u003Cdiv class=\"white\"\u003E\u003Cdiv class=\"highlight\"\u003E\u003Cpre\u003Esudo apt-get install ros-indigo-turtlebot-bringup \\\nros-indigo-turtlebot-create-desktop ros-indigo-openni-* \\\nros-indigo-openni2-* ros-indigo-freenect-* ros-indigo-usb-cam \\\nros-indigo-laser-* ros-indigo-hokuyo-node \\\nros-indigo-audio-common gstreamer0.10-pocketsphinx \\\nros-indigo-pocketsphinx ros-indigo-slam-gmapping \\\nros-indigo-joystick-drivers Python-rosinstall \\\nros-indigo-orocos-kdl ros-indigo-python-orocos-kdl \\\npython-setuptools ros-indigo-dynamixel-motor-* \\\nlibopencv-dev python-OpenCV ros-indigo-vision-opencv \\\nros-indigo-depthimage-to-laserscan ros-indigo-arbotix-* \\\nros-indigo-turtlebot-teleop ros-indigo-move-base \\\nros-indigo-map-server ros-indigo-fake-localization \\\nros-indigo-amcl Git subversion mercurial \n\u003C/pre\u003E\u003C/div\u003E\u003C/div\u003E\u003Ch3\u003E\u003Ca class=\"anchor\" id=\"\u5982\u679c\u51fa\u73b0unable-to-locate\u7684\u9519\u8bef\u7684\u8bdd-\u5148\u6267\u884csudo-apt-get-update-\u518d\u6267\u884c\u4e0a\u8ff0\u6307\u4ee4-\u63a5\u4e0b\u6765-\u4ece\u4ed3\u5e93\u4e2dclone-rbx1\u6e90\u7801\u5305-\u5982\u679c\u4e4b\u524d\u6ca1\u88c5\u8fc7git\u7684\u8bdd\u8981\u5148\u88c5\u4e00\u4e0bgit-\" href=\"#\u5982\u679c\u51fa\u73b0unable-to-locate\u7684\u9519\u8bef\u7684\u8bdd-\u5148\u6267\u884csudo-apt-get-update-\u518d\u6267\u884c\u4e0a\u8ff0\u6307\u4ee4-\u63a5\u4e0b\u6765-\u4ece\u4ed3\u5e93\u4e2dclone-rbx1\u6e90\u7801\u5305-\u5982\u679c\u4e4b\u524d\u6ca1\u88c5\u8fc7git\u7684\u8bdd\u8981\u5148\u88c5\u4e00\u4e0bgit-\"\u003E\u003C/a\u003E\u5982\u679c\u51fa\u73b0unable to locate\u7684\u9519\u8bef\u7684\u8bdd\uff0c\u5148\u6267\u884csudo apt-get update,\u518d\u6267\u884c\u4e0a\u8ff0\u6307\u4ee4\u3002\u63a5\u4e0b\u6765\uff0c\u4ece\u4ed3\u5e93\u4e2dclone rbx1\u6e90\u7801\u5305\uff0c\u5982\u679c\u4e4b\u524d\u6ca1\u88c5\u8fc7git\u7684\u8bdd\u8981\u5148\u88c5\u4e00\u4e0bgit\u3002\u003C/h3\u003E\n\u003Cp\u003E\u6267\u884c\u4e0b\u9762\u7684\u6307\u4ee4\u5c06rbx1 clone\u5230\u672c\u5730\u3002\u003C/p\u003E\n\u003Cdiv class=\"white\"\u003E\u003Cdiv class=\"highlight\"\u003E\u003Cpre\u003Ecd ~/catkin_ws/src\ngit clone https://github.com/pirobot/rbx1.git $ cd rbx1\ngit checkout indigo-devel\ncd ~/catkin_ws\ncatkin_make\nsource ~/catkin_ws/devel/setup.bash\nrospack profile\n\u003C/pre\u003E\u003C/div\u003E\u003C/div\u003E\u003Ch3\u003E\u003Ca class=\"anchor\" id=\"source\u6307\u4ee4\u4fdd\u8bc1\u5f53\u4f60\u6253\u5f00\u4e00\u4e2a\u65b0\u7684\u7ec8\u7aef\u540e-\u4f60\u7684catkin-packages\u5728\u4f60\u7684ros-package-path\u8def\u5f84\u4e0b-\" href=\"#source\u6307\u4ee4\u4fdd\u8bc1\u5f53\u4f60\u6253\u5f00\u4e00\u4e2a\u65b0\u7684\u7ec8\u7aef\u540e-\u4f60\u7684catkin-packages\u5728\u4f60\u7684ros-package-path\u8def\u5f84\u4e0b-\"\u003E\u003C/a\u003Esource\u6307\u4ee4\u4fdd\u8bc1\u5f53\u4f60\u6253\u5f00\u4e00\u4e2a\u65b0\u7684\u7ec8\u7aef\u540e\uff0c\u4f60\u7684catkin packages\u5728\u4f60\u7684ROS_PACKAGE_PATH\u8def\u5f84\u4e0b\u3002\u003C/h3\u003E\n\u003Cp\u003E\u88c5\u597d\u4e4b\u540e\uff0c\u4f60\u7684~/catkin_ws/src/rbx1\u76ee\u5f55\u4e0b\u4f1a\u6709\u4e0b\u9762\u8fd9\u4e9b\u6587\u4ef6\u3002\u003C/p\u003E\n\u003Ch3\u003E\u003Ca class=\"anchor\" id=\"2-\u6d4b\u8bd5arbotix-simulator\" href=\"#2-\u6d4b\u8bd5arbotix-simulator\"\u003E\u003C/a\u003E2.\u6d4b\u8bd5ARBOTIX SIMULATOR\u003C/h3\u003E\n\u003Cp\u003E\u6211\u4eec\u4e3b\u8981\u4f7f\u7528arbotix_python\u4eff\u771f\u5668\u6765\u6d4b\u8bd5\u4ee3\u7801\u5e94\u7528\u5230\u673a\u5668\u4eba\u4e0a\u9762\u7684\u6548\u679c\uff0c\u4e4b\u524d\u7684\u4e00\u5806\u6307\u4ee4\u4e2d\u5df2\u7ecf\u5b89\u88c5\u8fc7arbotix\u3002\u73b0\u5728\u5148\u5728\u7ec8\u7aef\u4e2d\u8f93\u5165roscore\u6307\u4ee4\u3002 \n\u7136\u540e\u542f\u52a8\u4eff\u771f\u7684TurtleBot\u673a\u5668\u4eba\u3002\u518d\u6253\u5f00\u4e00\u4e2a\u7ec8\u7aef\uff0c\u542f\u52a8fake_turtlebot.launch\u6587\u4ef6\u3002\n\u003Ccode\u003Eroslaunch rbx1_bringup fake_turtlebot.launch\u003C/code\u003E\u003C/p\u003E\n\u003Ch3\u003E\u003Ca class=\"anchor\" id=\"\u7136\u540e\u542f\u52a8rviz\u4eff\u771f\u5668-\" href=\"#\u7136\u540e\u542f\u52a8rviz\u4eff\u771f\u5668-\"\u003E\u003C/a\u003E\u7136\u540e\u542f\u52a8RViz\u4eff\u771f\u5668\u3002\u003C/h3\u003E\n\u003Cp\u003E\u003Ccode\u003Erosrun rviz rviz -d\u003C/code\u003Erospack find rbx1_nav\u003Ccode\u003E/sim.rviz\u003C/code\u003E\u003C/p\u003E\n\u003Ch3\u003E\u003Ca class=\"anchor\" id=\"\u8fd9\u6837\u5c31\u53ef\u4ee5\u5f88\u65b9\u4fbf\u7684\u7528\u53ef\u89c6\u5316\u7684\u5de5\u5177\u89c2\u5bdf\u673a\u5668\u4eba\u7684\u8fd0\u884c\u72b6\u51b5-\u63a5\u4e0b\u6765\u901a\u8fc7\u53d1\u5e03twist\u6d88\u606f\u6765\u63a7\u5236\u673a\u5668\u4eba\u7684\u8fd0\u52a8-\" href=\"#\u8fd9\u6837\u5c31\u53ef\u4ee5\u5f88\u65b9\u4fbf\u7684\u7528\u53ef\u89c6\u5316\u7684\u5de5\u5177\u89c2\u5bdf\u673a\u5668\u4eba\u7684\u8fd0\u884c\u72b6\u51b5-\u63a5\u4e0b\u6765\u901a\u8fc7\u53d1\u5e03twist\u6d88\u606f\u6765\u63a7\u5236\u673a\u5668\u4eba\u7684\u8fd0\u52a8-\"\u003E\u003C/a\u003E\u8fd9\u6837\u5c31\u53ef\u4ee5\u5f88\u65b9\u4fbf\u7684\u7528\u53ef\u89c6\u5316\u7684\u5de5\u5177\u89c2\u5bdf\u673a\u5668\u4eba\u7684\u8fd0\u884c\u72b6\u51b5\u3002\u63a5\u4e0b\u6765\u901a\u8fc7\u53d1\u5e03Twist\u6d88\u606f\u6765\u63a7\u5236\u673a\u5668\u4eba\u7684\u8fd0\u52a8\u3002\u003C/h3\u003E\n\u003Cp\u003E\u003Ccode\u003Erostopic pub -r 10 /cmd_vel geometry_msgs/Twist \u0026#39;{linear: {x: 0.2, y: 0, z: 0}, angular: {x: 0, y: 0, z: 0.5}}\u0026#39;\u003C/code\u003E\u003C/p\u003E\n\u003Ch3\u003E\u003Ca class=\"anchor\" id=\"\u8fd9\u4e2a\u6d88\u606f\u7684\u610f\u601d\u662f-\u4f7f\u673a\u5668\u4eba\u7684\u7ebf\u901f\u5ea6\u4fdd\u6301vx\uff1d0-2m-s-\u81ea\u65cb\u89d2\u901f\u5ea6\u4fdd\u63010-5rad-s-\u8fd9\u6837\u673a\u5668\u4eba\u5c31\u4f1a\u505a\u5706\u5468\u8fd0\u52a8-\u4eff\u771f\u5668\u8fd0\u884c\u7ed3\u679c\u5982\u4e0b-\" href=\"#\u8fd9\u4e2a\u6d88\u606f\u7684\u610f\u601d\u662f-\u4f7f\u673a\u5668\u4eba\u7684\u7ebf\u901f\u5ea6\u4fdd\u6301vx\uff1d0-2m-s-\u81ea\u65cb\u89d2\u901f\u5ea6\u4fdd\u63010-5rad-s-\u8fd9\u6837\u673a\u5668\u4eba\u5c31\u4f1a\u505a\u5706\u5468\u8fd0\u52a8-\u4eff\u771f\u5668\u8fd0\u884c\u7ed3\u679c\u5982\u4e0b-\"\u003E\u003C/a\u003E\u8fd9\u4e2a\u6d88\u606f\u7684\u610f\u601d\u662f\uff0c\u4f7f\u673a\u5668\u4eba\u7684\u7ebf\u901f\u5ea6\u4fdd\u6301Vx\uff1d0.2m/s,\u81ea\u65cb\u89d2\u901f\u5ea6\u4fdd\u63010.5rad/s\uff0c\u8fd9\u6837\u673a\u5668\u4eba\u5c31\u4f1a\u505a\u5706\u5468\u8fd0\u52a8\u3002\u4eff\u771f\u5668\u8fd0\u884c\u7ed3\u679c\u5982\u4e0b\uff1a\u003C/h3\u003E\u003Ch3\u003E\u003Ca class=\"anchor\" id=\"\u5982\u679c\u60f3\u8ba9\u673a\u5668\u4eba\u505c\u4e0b\u6765\u7684\u8bdd-\u5148ctrl\uff0bc\u7ec8\u6b62\u8fdb\u7a0b-\u518d\u8f93\u5165\u4ee5\u4e0b\u6307\u4ee4-\" href=\"#\u5982\u679c\u60f3\u8ba9\u673a\u5668\u4eba\u505c\u4e0b\u6765\u7684\u8bdd-\u5148ctrl\uff0bc\u7ec8\u6b62\u8fdb\u7a0b-\u518d\u8f93\u5165\u4ee5\u4e0b\u6307\u4ee4-\"\u003E\u003C/a\u003E\u5982\u679c\u60f3\u8ba9\u673a\u5668\u4eba\u505c\u4e0b\u6765\u7684\u8bdd\uff0c\u5148Ctrl\uff0bC\u7ec8\u6b62\u8fdb\u7a0b\uff0c\u518d\u8f93\u5165\u4ee5\u4e0b\u6307\u4ee4\uff1a\u003C/h3\u003E\n\u003Cp\u003E\u003Ccode\u003Errostopic pub -1 /cmd_vel geometry_msgs/Twist \u0026#39;{}\u0026#39;\u003C/code\u003E\u003C/p\u003E\n","515431":"\u003Ch3\u003E\u003Ca class=\"anchor\" id=\"\u4e3b\u8981\u6709\u4ee5\u4e0b\u51e0\u79cd\u4e8b\u4ef6-\" href=\"#\u4e3b\u8981\u6709\u4ee5\u4e0b\u51e0\u79cd\u4e8b\u4ef6-\"\u003E\u003C/a\u003E\u4e3b\u8981\u6709\u4ee5\u4e0b\u51e0\u79cd\u4e8b\u4ef6:\u003C/h3\u003E\n\u003Cul class=\"task-list\"\u003E\n\u003Cli\u003E\u4e3b\u8981\u4e8b\u4ef6                  \u5b50\u4e8b\u4ef6                   \u89e6\u53d1\u6761\u4ef6\u003Cbr\u003E\n\u003C/li\u003E\n\u003Cli\u003EMouseHover        \u9f20\u6807\u60ac\u505c\u5728\u63a7\u4ef6\u53d1\u751f\u003Cbr\u003E\n\u003C/li\u003E\n\u003Cli\u003EMouseLeave        \u9f20\u6807\u79bb\u5f00\u63a7\u4ef6\u65f6\u53d1\u751f EventHandler\u003C/li\u003E\n\u003Cli\u003EMouseEnter        \u9f20\u6807\u8fdb\u5165\u63a7\u4ef6\u65f6\u53d1\u751f EventHandler\u003C/li\u003E\n\u003Cli\u003EMouseMove     \u9f20\u6807\u79fb\u52a8\u8fc7\u7a0b\u4e2d\u91cd\u590d\u53d1\u751f   MouseEventHandler\u003C/li\u003E\n\u003Cli\u003EMouseDown     \u9f20\u6807\u952e\u6309\u4e0b\u65f6\u53d1\u751f            MouseEventHandler\u003C/li\u003E\n\u003Cli\u003EMouseLeftButtonDown   \u9f20\u6807\u5de6\u952e\u6309\u4e0b\u65f6\u53d1\u751f\u003Cbr\u003E\n\u003C/li\u003E\n\u003Cli\u003EMouseRightButtonDown  \u9f20\u6807\u53f3\u952e\u6309\u4e0b\u65f6\u53d1\u751f\u003Cbr\u003E\n\u003C/li\u003E\n\u003Cli\u003EMouseUp       \u9f20\u6807\u952e\u677e\u5f00\u65f6\u53d1\u751f            MouseEventHandler\u003C/li\u003E\n\u003Cli\u003EMouseLeftButtonUp \u9f20\u6807\u5de6\u952e\u677e\u5f00\u65f6\u53d1\u751f\u003Cbr\u003E\n\u003C/li\u003E\n\u003Cli\u003EMouseRightButtonUp    \u9f20\u6807\u53f3\u952e\u677e\u5f00\u65f6\u53d1\u751f\u003Cbr\u003E\n\u003C/li\u003E\n\u003Cli\u003EMouseWheel        \u9f20\u6807\u6eda\u8f6e\u6eda\u52a8\u65f6\u53d1\u751f MouseEventHandler\u003C/li\u003E\n\u003C/ul\u003E\n\n\u003Cp\u003E\u53e6\u5916\u8fd8\u6709Preview+\u4e8b\u4ef6   \u5982\uff1a PreviewMouseMove \u7b49\u7b49\u4e8b\u4ef6,   \u5148\u4e8e\u6b63\u5e38\u7684\u9f20\u6807\u4e8b\u4ef6\u53d1\u751f\u3002\u003C/p\u003E\n\n\u003Cp\u003E\u53d1\u751f\u987a\u5e8f\uff1a\u003C/p\u003E\n\n\u003Cp\u003E\u9f20\u6807\u4e8b\u4ef6\u6309\u4ee5\u4e0b\u987a\u5e8f\u53d1\u751f\uff1a\u003C/p\u003E\n\n\u003Cp\u003EMouseEnter\nMouseMove\nMouseHover / MouseDown / MouseWheel\nMouseUp\nMouseLeave\u003C/p\u003E\n\n\u003Cp\u003E\u4e0e\u7ec4\u4ef6\u7684\u7ed1\u5b9a\u003C/p\u003E\n\n\u003Cp\u003E\u7ec4\u4ef6\u540d\u79f0.\u4e8b\u4ef6\u540d\u79f0+=new System.EventHandler\uff08\u4e8b\u4ef6\u540d\u79f0\uff09\uff1b\u003C/p\u003E\n\n\u003Cp\u003EOR \u7ec4\u4ef6\u540d\u79f0.\u4e8b\u4ef6\u540d\u79f0+=new System.MouseEventHandler\uff08\u4e8b\u4ef6\u540d\u79f0\uff09\uff1b\u003C/p\u003E\n\n\u003Cp\u003E\u9f20\u6807\u4e8b\u4ef6\u4f7f\u7528\u6761\u4ef6\u003C/p\u003E\n\n\u003Cp\u003E\u67d0\u4e9b\u63a7\u4ef6\u7684\u529f\u80fd\u589e\u5f3a\uff1a TreeView\u91cc\u9762\u5143\u7d20\u7684\u62d6\u52a8\u003C/p\u003E\n\n\u003Cp\u003E\u6216\u8005\u81ea\u5b9a\u4e49\u63a7\u4ef6\u7684\u8bb8\u591a\u529f\u80fd\uff1a flash\u7684\u65f6\u95f4\u8f74\u003C/p\u003E\n\n\u003Cp\u003E\u63a7\u4ef6\u5185\u62d6\u52a8\u529f\u80fd\u4e3e\u4f8b\uff1a\u003C/p\u003E\n\n\u003Cp\u003El  \u83b7\u5f97MouseDown\u65f6position\u3002\u003C/p\u003E\n\n\u003Cp\u003El  \u5728 MouseMove\u4e2d\u68c0\u67e5\u9f20\u6807\u5de6\u952e\u6309\u4e0b\u60c5\u51b5 \u548c \u9f20\u6807\u79fb\u52a8\u60c5\u51b5\u3002\u003C/p\u003E\n\n\u003Cp\u003El  \u628a\u79fb\u52a8\u7684\u4e3e\u4f8b\u548c\u7cfb\u7edf\u63d0\u4f9b\u7684SystemParameters.MinimumHorizontalDragDistance\u6bd4\u8f83\u003C/p\u003E\n\n\u003Cp\u003E\u5982\uff1a\u003C/p\u003E\n\n\u003Cp\u003EMath.Abs(now.X-start.X)\u0026gt;SystemParameters.MinimumHorizontalDragDistance\u003C/p\u003E\n\n\u003Cp\u003El  \u5728MouseUp\u4e2d\u6839\u636e\u5de6\u952e\u7684\u91ca\u653e\u60c5\u51b5\uff0c\u5224\u65ad\u91ca\u653e\u62d6\u52a8\u5b8c\u6210\uff0c\u7136\u540e\u505a\u76f8\u5e94\u5904\u7406\u3002\u003C/p\u003E\n\n\u003Cp\u003E\u7279\u6b8a\u95ee\u9898\u89e3\u51b3\u003C/p\u003E\n\n\u003Cp\u003E\u6211\u4eec\u5728\u7f16\u5199\u7a0b\u5e8f\u4ee3\u7801\u8fc7\u7a0b\u4e2d\u53ef\u80fd\u9047\u5230\u67d0\u4e9b\u9f20\u6807\u4e8b\u4ef6\u5b8c\u5168\u4e0d\u88ab\u89e6\u53d1\u7684\u60c5\u51b5\uff0c\u5982\u679c\u4f60\u7684MouseDown\u4e0d\u89e6\u53d1\uff0c\u90a3\u4e48\u4f60\u53ef\u4ee5\u8bd5\u8bd5PreviewMouseDown\u4e8b\u4ef6\uff0c\u5176\u4ed6\u4e8b\u4ef6\u7c7b\u4f3c\uff0c\u5177\u4f53\u4ec0\u4e48\u539f\u56e0\uff0c\u6211\u4e5f\u4e0d\u6e05\u695a\uff0c\u611f\u89c9MouseDown \u4e0e PreviewMouseDown\u662f\u4e24\u5957\u72ec\u7acb\u7684\u4e8b\u4ef6\u94fe\uff0c\u4e92\u76f8\u4e0d\u5f71\u54cd\u3002\u003C/p\u003E\n\n\u003Cp\u003EMouseMove\u7684\u89e6\u53d1\u4e0d\u662f\u6309\u56fa\u5b9a\u4f4d\u79fb\u91cf\u89e6\u53d1\u7684\uff0c\uff08\u4f8b\u5982\uff1a\u9f20\u6807\u6ed1\u52a8\u9009\u62e9\u5143\u4ef6\uff0c\u82e5\u9f20\u6807\u79fb\u52a8\u592a\u5feb\uff0c\u67d0\u4e9b\u88ab\u5212\u8fc7\u7684\u5143\u4ef6\u5c31\u4e0d\u88ab\u9009\u62e9\u4e86\uff09\uff0c\u6240\u4ee5\u67d0\u4e9b\u60c5\u51b5\u4e0b\u5728MouseMove\u91cc\u5904\u7406 \u4e0d\u592a\u53ef\u9760\u3002\u003C/p\u003E\n","504829":"\u003Cdiv class=\"white\"\u003E\u003Cdiv class=\"highlight\"\u003E\u003Cpre\u003E{\n  \"header\": {\n    \"seq\": 0,\n    \"stamp\": {\n      \"secs\": 1531007615,\n      \"nsecs\": 19525437\n    },\n    \"frame_id\": \"map\"\n  },\n  \"info\": {\n    \"map_load_time\": {\n      \"secs\": 1531007615,\n      \"nsecs\": 19525130\n    },\n    \"resolution\": 0.05,\n    \"width\": 576,\n    \"height\": 544,\n    \"origin\": {\n      \"position\": {\n        \"x\": -13.8,\n        \"y\": -12.2,\n        \"z\": 0.0\n      },\n      \"orientation\": {\n        \"x\": 0.0,\n        \"y\": 0.0,\n        \"z\": 0.0,\n        \"w\": 1.0\n      }\n    }\n  },\n  \"data\": [\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    100,\n    100,\n    0,\n    100,\n    0,\n    0,\n    0,\n    0,\n    0,\n    0,\n    100,\n    0,\n    100,\n    0,\n    100,\n    0,\n    0,\n    -1,\n    -1,\n    100,\n    0,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    0,\n    100,\n    0,\n    0,\n    0,\n    0,\n    0,\n    0,\n    0,\n    0,\n    100,\n    0,\n    100,\n    0,\n    0,\n    0,\n    0,\n    -1,\n    -1,\n    0,\n    0,\n    -1,\n    -1,\n    100,\n    -1,\n    -1,\n    100,\n    100,\n    100,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    100,\n    100,\n    100,\n    0,\n    0,\n    0,\n    0,\n    0,\n    0,\n    0,\n    0,\n    0,\n    0,\n    0,\n    0,\n    0,\n    0,\n    0,\n    -1,\n    0,\n    0,\n    -1,\n    -1,\n    0,\n    -1,\n    -1,\n    -1,\n    100,\n    100,\n    100,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    100,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    100,\n    100,\n    100,\n    0,\n    0,\n    0,\n    0,\n    0,\n    0,\n    0,\n    0,\n    100,\n    100,\n    0,\n    0,\n    0,\n    100,\n    0,\n    100,\n    100,\n    100,\n    100,\n    100,\n    0,\n    -1,\n    -1,\n    -1,\n    -1,\n    100,\n    0,\n    0,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n    -1,\n  ]\n}\n\u003C/pre\u003E\u003C/div\u003E\u003C/div\u003E","503004":"\u003Ch3\u003E\u003Ca class=\"anchor\" id=\"\u8fd9\u91cc\u662f\u5217\u8868\u6587\u672c\u8fd0\u884c\u673a\u5668\u4eba\u8282\u70b9\" href=\"#\u8fd9\u91cc\u662f\u5217\u8868\u6587\u672c\u8fd0\u884c\u673a\u5668\u4eba\u8282\u70b9\"\u003E\u003C/a\u003E\u8fd9\u91cc\u662f\u5217\u8868\u6587\u672c\u8fd0\u884c\u673a\u5668\u4eba\u8282\u70b9\u003C/h3\u003E\n\u003Cp\u003E\u003Ccode\u003Eroslaunch rbx1_bringup fake_turtlebot.launch\u003C/code\u003E\u003C/p\u003E\n\u003Ch3\u003E\u003Ca class=\"anchor\" id=\"\u8fd0\u884camcl\u8282\u70b9-\u4f7f\u7528\u6d4b\u8bd5\u5730\u56fe\" href=\"#\u8fd0\u884camcl\u8282\u70b9-\u4f7f\u7528\u6d4b\u8bd5\u5730\u56fe\"\u003E\u003C/a\u003E\u8fd0\u884camcl\u8282\u70b9\uff0c\u4f7f\u7528\u6d4b\u8bd5\u5730\u56fe\u003C/h3\u003E\n\u003Cp\u003E\u003Ccode\u003Eroslaunch rbx1_nav fake_amcl.launch map:=test_map.yaml\u003C/code\u003E\u003C/p\u003E\n\u003Ch3\u003E\u003Ca class=\"anchor\" id=\"\u8fd0\u884c-rviz\" href=\"#\u8fd0\u884c-rviz\"\u003E\u003C/a\u003E\u8fd0\u884c\uff1arviz\u003C/h3\u003E\n\u003Cp\u003E\u003Ccode\u003Erosrun rviz rviz -d\u003C/code\u003Erospack find rbx1_nav\u003Ccode\u003E/amcl.rviz\u003C/code\u003E\u003C/p\u003E\n\u003Ch3\u003E\u003Ca class=\"anchor\" id=\"\u8fd0\u884crosbridge-websocket\" href=\"#\u8fd0\u884crosbridge-websocket\"\u003E\u003C/a\u003E\u8fd0\u884cRosBridge_websocket\u003C/h3\u003E\n\u003Cp\u003E\u003Ccode\u003Eroslaunch rosbridge_server rosbridge_websocket.launch\u003C/code\u003E\u003C/p\u003E\n\u003Ch3\u003E\u003Ca class=\"anchor\" id=\"\u8fd0\u884c\u6548\u679c-\" href=\"#\u8fd0\u884c\u6548\u679c-\"\u003E\u003C/a\u003E\u8fd0\u884c\u6548\u679c\uff1a\u003C/h3\u003E\n\u003Cp\u003E\u003Cimg alt=\"\u8f93\u5165\u56fe\u7247\u8bf4\u660e\" src=\"https://images.gitee.com/uploads/images/2018/0707/122237_d83cb371_1509932.png\" title=\"\u5c4f\u5e55\u622a\u56fe.png\" /\u003E\u003C/p\u003E\n","517725":"\u003Ch3\u003E\u003Ca class=\"anchor\" id=\"\u7b2c\u4e00\u6b65-\u521b\u5efa\u4e00\u4e2a\u65b0\u7684package\" href=\"#\u7b2c\u4e00\u6b65-\u521b\u5efa\u4e00\u4e2a\u65b0\u7684package\"\u003E\u003C/a\u003E\u7b2c\u4e00\u6b65,\u521b\u5efa\u4e00\u4e2a\u65b0\u7684package\u003C/h3\u003E\u003Cdiv class=\"white\"\u003E\u003Cdiv class=\"highlight\"\u003E\u003Cpre\u003Ecd ~/catkin_ws/src\ncatkin_create_pkg admin\ncatmake\n\u003C/pre\u003E\u003C/div\u003E\u003C/div\u003E\u003Ch3\u003E\u003Ca class=\"anchor\" id=\"\u5728admin\u4e0b\u5efa\u7acblaunch\u76ee\u5f55-\u7136\u540e\u521b\u5efa\" href=\"#\u5728admin\u4e0b\u5efa\u7acblaunch\u76ee\u5f55-\u7136\u540e\u521b\u5efa\"\u003E\u003C/a\u003E\u5728admin\u4e0b\u5efa\u7acblaunch\u76ee\u5f55\uff0c\u7136\u540e\u521b\u5efa\u003C/h3\u003E\n\u003Cp\u003E\u003Ccode\u003Estart.launch\u003C/code\u003E\u003C/p\u003E\n\u003Ch3\u003E\u003Ca class=\"anchor\" id=\"\u5185\u5bb9\u5982\u4e0b\" href=\"#\u5185\u5bb9\u5982\u4e0b\"\u003E\u003C/a\u003E\u5185\u5bb9\u5982\u4e0b\u003C/h3\u003E\u003Cdiv class=\"white\"\u003E\u003Cdiv class=\"highlight\"\u003E\u003Cpre\u003E\u0026lt;launch\u0026gt;\n    \u0026lt;include file=\"$(find rbx1_bringup)/launch/fake_turtlebot.launch\" /\u0026gt; \n    \u0026lt;include file=\"$(find rbx1_nav)/launch/fake_amcl.launch\"\u0026gt; \n        \u0026lt;param name=\"map\" value=\"test_map.yaml\"/\u0026gt;\n    \u0026lt;/include\u0026gt;\n  \u0026lt;node name=\"rviz\" pkg=\"rviz\" type=\"rviz\" args=\"-d $(find rbx1_nav)/amcl.rviz\" /\u0026gt;\n  \u0026lt;include file=\"$(find rosbridge_server)/launch/rosbridge_websocket.lah\" /\u0026gt;\n\u0026lt;/launch\u0026gt;\n\u003C/pre\u003E\u003C/div\u003E\u003C/div\u003E\u003Ch3\u003E\u003Ca class=\"anchor\" id=\"\u8fd0\u884c\u673a\u5668\u4eba-\" href=\"#\u8fd0\u884c\u673a\u5668\u4eba-\"\u003E\u003C/a\u003E\u8fd0\u884c\u673a\u5668\u4eba\uff1a\u003C/h3\u003E\n\u003Cp\u003E\u003Ccode\u003Eroslaunch admin start.launch\u003C/code\u003E\u003C/p\u003E\n"}}</script>